RU2644432C2 - Universal platform on magnetic wheels for intratubal devices - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: universal platform on magnetic wheels for intratubal devices contains magnetic motor-wheel modules. Additionally, the claimed device comprises a lever hoist mounted on the front axle and pivotally connected to the lifting cargo platform, providing an optimum geometry of the universal platform on the magnetic wheels for maneuvering in the piping, as well as contacting all four wheels with a curved support surface.

EFFECT: lever hoist provides an optimal, adjustable working body distance of the intratubal device mounted on the loading platform from the pipe surface, when performing diagnostic and other types of work.

6 dwg

Description

The invention relates to pipeline transport and can be used to create devices for in-line diagnostics, as well as other devices used in the construction and overhaul of objects with piping.

At present, both traditional in-tube flaw detector shells and autonomous robotic flaw detector scanners [1] are used for in-tube diagnostics (Materials of IntroScan Technology CJSC: “Development of tools for monitoring the technical condition of technological pipelines of Gazprom compressor stations, using an autonomous robotic scanner of flaw detector A2072 "IntroScan" "presented at the 33rd thematic seminar" Diagnostics of equipment and pipelines of compressor stations "in Svetlogor to, 8-12 September 2014).

In-pipe shells move in the pipe under the influence of a gas flow, while the pipe should not change the bore. Such devices can only be used on existing gas pipelines.

The closest in technical essence and the achieved result to the claimed invention are platforms of the autonomous robotic scanner-flaw detector A2072 "IntroScan" [2] (Materials of ZAO IntroScan Technology: "Development of monitoring tools for the technical condition of technological pipelines of compressor stations of OAO Gazprom, using autonomous robotic A2072 “IntroScan” flaw detector scanner ”presented at the 33rd thematic seminar“ Diagnostics of compressor station equipment and pipelines ”in Svet ogorsk, 8-12 September 2014, prototypes v1.0, v2.0 and v3.1).

Platforms of flaw detector scanners provide their movement along an arbitrary trajectory, excluding the most contaminated sections of the internal cavity of the pipeline and, as a result, there is no need for cleaning measures before conducting in-line diagnostics. Magnetic motor-wheeled modules of the platforms ensure the passage of flaw detector scanners through the internal cavity of the steel pipe and along the elements of various assortment (pipes, bends, tees, transitions, ballast protection devices) DN 300-1400 mm.

The disadvantages of these platforms are:

- the automobile rotation pattern of known platforms excludes the declared possibility of maneuvering in tees with a DN of 300 mm due to the presence of a significant turning radius and dimensions of the platforms themselves;

- for each prototype scanner-flaw detector A2072 "IntroScan", depending on its purpose, an individual platform with magnetic wheels has been developed.

The aim of the present invention is to provide a universal platform on magnetic wheels for in-tube devices, allowing:

- to carry out unlimited maneuvering in a complex piping due to the variable geometry of the universal platform on magnetic wheels;

- ensure the universal platform is rotated on magnetic wheels in place by rotating the left and right wheels in opposite directions, while ensuring contact of all four wheels with a curved supporting surface.

The essence of the present invention lies in the fact that the claimed universal platform on magnetic wheels for in-tube devices, containing magnetic motor-wheel modules, according to the invention further comprises a lever lifting mechanism mounted on its front axle and pivotally connected to the lifting cargo platform, providing optimal geometry of the universal platforms on magnetic wheels for maneuvering in piping, as well as the contact of all four wheels with a curved support surface, while the lever lifting mechanism provides an optimal, adjustable distance of the working body of the in-tube device mounted on the loading platform from the surface of the pipe when performing diagnostic and other types of work.

In FIG. 1, 2, 3, 4 shows a universal platform on magnetic wheels for in-tube devices, where:

1 - lifting cargo platform;

2 - gear motor;

3 - front axle;

4 - wheel;

5 - ring magnet;

6 - lever lifting mechanism;

7 - power lever;

8 - screw pair;

9 - in-tube device;

10 - video camera.

In FIG. 5 shows a universal platform on magnetic wheels when moving in cross section of a pipe with a raised lifting cargo platform 1, where:

11 - steel pipe.

In FIG. 6 shows a lever lifting mechanism 6 with a power lever 7 in a raised position.

A universal platform on magnetic wheels for in-tube devices consists of a lifting cargo platform 1 with gear motors 2 mounted on it and a front axle 3 with gear motors 2 mounted on them. Wheels 4 and ring magnets 5 are mounted on the axis of the gear motors 2 the cargo platform 1 and the front axle 3 are connected to each other by a lever lifting mechanism 6, rigidly mounted on the front axle 3, while its power lever 7 is pivotally connected to the lifting cargo platform 1. The lever lifting mechanism 6 is equipped with It is equipped with a gear motor 2 with a screw pair 8. An in-tube device 9 with a video camera 10 is installed on a lifting cargo platform 1.

The inventive universal platform on magnetic wheels works as follows.

A universal platform on magnetic wheels with an in-tube device 9 installed on it is mounted on the inner surface of the steel pipe 11. Ring magnets 5 through the wheels 4 made of electrical steel with high magnetic properties provide magnetization of the product to the steel pipe under examination 11. The presence of a longitudinal articulated joint levers 7 with a lifting cargo platform 1 provide a full fit of all wheels 4 to the curved surface of the steel pipe 11. Then on the motor-ed 2 Ktorov wheels 4 is switched on. When the wheels 4 rotate in one direction (counterclockwise - see Fig. 1), the product moves forward. When changing rotation to the opposite - back. The rotation of the left and right wheels 4 in opposite directions provides the rotation of the platform in place. When moving the universal platform on magnetic wheels for in-tube devices, along the steel pipe 11 to fit all four wheels 4 to its curved surface, the available angle of rotation of the front axle 3 in the transverse direction V with the lever lifting mechanism 6 lowered (see Fig. 3) .

During operation of the in-tube device 9 mounted on a universal platform with magnetic wheels, its working body, for example, a diagnostic sensor, is usually located at a minimum distance from the pipe surface. To overcome obstacles (welds, smooth narrowing of the bore, etc.) and turns, the operator, having visually assessed the situation using the video camera 10, turns on the gear motor 2 of the lever lifting mechanism 6, the self-braking screw pair 8 through the lever system including the power lever 7, lifts the lifting cargo platform 1. Thus, the modified geometric parameters of the universal platform on magnetic wheels, the increased angle of arrival of the product W (see Fig. 5) and the rotation angle of the front axle 3 in the transverse direction II V ₁ (see Fig. 6), allow you to overcome oncoming obstacles, turn around in the pipe (see - Fig. 5), drive into bends, etc., while ensuring that all four wheels fit to the curved surface of the steel pipe 11 four.

To ensure accurate positioning of the working body of the in-tube device 9, mounted on a universal platform with magnetic wheels, relative to the surface of the steel pipe 11, it should be equipped with a range finder, and positioning accuracy will ensure the use of a servo drive as a gear motor 2 of the lever lifting mechanism 6.

The proposed universal platform on magnetic wheels is optimal for building on its base in-line flaw detectors and other devices, and the ability to change its geometry provides unlimited maneuvering in complex piping.

INFORMATION SOURCES

1. Materials of IntroScan Technology CJSC: “Development of tools for monitoring the technical condition of the technological pipelines of compressor stations of OAO Gazprom, using the A2072“ IntroScan ”autonomous robotic scanner-flaw detector, presented at the 33rd thematic workshop“ Diagnostics of compressor station equipment and pipelines ” , in the city of Svetlogorsk, September 8-12, 2014

2. Materials of IntroScan Technology CJSC: “Development of tools for monitoring the technical condition of the technological pipelines of compressor stations of OAO Gazprom, using the A2072“ IntroScan ”autonomous robotic scanner-flaw detector, presented at the 33rd thematic workshop“ Diagnostics of compressor station equipment and pipelines ” , in Svetlogorsk, September 8-12, 2014, prototypes v1.0, v2.0 and v3.1.

Claims (1)

A universal platform on magnetic wheels for in-tube devices, containing magnetic motor-wheel modules, characterized in that it further comprises a lever lifting mechanism mounted on its front axle and pivotally connected to a lifting cargo platform, providing optimal geometry of the universal platform on magnetic wheels for maneuvering in piping, as well as the contact of all four wheels with a curved supporting surface, while the lever lifting mechanism provides wholesale mal, adjustable working distance body-tube device mounted on the load platform surface of the pipe when performing diagnostic and other types of work.

Images